摆出最大数字 · arrange_largest_number_000038任务成功第二档

观测 obs_000000 · 步 0 · 剩余 1050 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000000",
  "step_id": 0,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.922], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.922], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1050,
  "native_success": false,
  "frame": "environment_origin",
  "task_context": {
    "episode_start_eef": {
      "left": {"position": [-0.3, -0.352, 0.922], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
      "right": {"position": [0.3, -0.352, 0.922], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
    },
    "requires_arm_return": true
  }
}

• exec_command(cmd="cat .agents/skills/robot-manipulation/SKILL.md")→退出码 0 · 1,522 字
  参数原文· 91 字JSON

  {"cmd": "cat .agents/skills/robot-manipulation/SKILL.md", "max_output_tokens": 12000}
  返回原文· 6,129 字代码

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  Process exited with code 0
  Original token count: 1522
  Output:
  ---
  name: robot-manipulation
  description: Plan and execute visual manipulation within an already initialized RoboDojo dual-arm episode, using observations to guide decisions, robot_act to control robot for manipulation, robot_wait to hold the robot while waiting for a suitable opportunity to act in a changing environment, and robot_reset after completing the manipulation goal.
  ---
  
  Track the objects, constraints, and subgoals relevant to the supplied instruction.
  Use `robot_act` to move the robot to complete the task, `robot_wait` to hold the robot while waiting for the environment to change, and `robot_reset` to return joints to their initial configuration when you believe the task's manipulation goal is complete. Normal Codex shell, Python, image viewing, calculation, and writable notes are available when useful. Observations are read-only; keep your own files in the working directory. The host provides each new observation after execution. Select actions yourself from the available evidence; do not access simulator internals or another controller.
  
  Since the end effector is a two-finger gripper, securely grasping objects can be challenging, especially for larger objects. Therefore, when selecting a grasp position, carefully consider the object’s shape and center of mass. Choose an appropriate grasp point to ensure that the object remains stable after lifting and does not tip over or slip out of the gripper.
  
  Since the two-finger gripper has a limited contact area, adaptively adjust its orientation based on the object’s geometry to achieve a stable, antipodal grasp whenever possible. Select contact points where the opposing contact forces are approximately collinear, minimizing unwanted rotational torque and reducing the risk of slipping or tipping during lifting. This is especially important for non-convex or irregularly shaped objects, where the optimal grasp orientation may not align with the horizontal or vertical axes. For example, when grasping an object shaped like the digit ‘2’, gripping its top and bottom vertically may provide better stability than gripping it horizontally. In contrast, for an object shaped like the digit ‘7’, a vertical grasp may produce poorly aligned contact forces, whereas a diagonal grasp along its longest edge may offer greater stability. Always prioritize contact geometry and grasp stability over fixed grasp orientations.
  
  Since the end effectors are grippers with limited dexterity, avoid using both grippers to manipulate a single object simultaneously unless necessary. 
  
  However, this does not mean that the two grippers cannot perform different tasks simultaneously. When the tasks assigned to the two grippers do not interfere with each other and can be executed safely in parallel, simultaneous execution is encouraged to improve efficiency.
  
  When collaborating with other robotic arms that are not under our control, wait until the other robotic arm has returned to its initial or resting position before starting our own operations. This helps prevent conflicts between the robots’ actions and avoids unnecessary complications. You may flexibly adjust the use of `robot_wait` based on the other robotic arm’s actions and movement speed, allowing you to gather sufficient information to complete the task while minimizing the number of observations and reducing observational redundancy.
  
  When the supplied task context requires returning the arms, reserve control budget to release, retract, and return toward the supplied episode-start poses.
  
  When the scene provides explicit instructions or hints indicating where an object should be placed, aim to position the object as close to the center of the designated area as possible. Correct any small positioning errors while the object is still within reach to prevent avoidable task failures that would otherwise require reaching back to readjust its position.
  
  When pushing an object with the gripper, account for the object’s inertia. Pushing too quickly or forcefully may cause the object to slide forward and travel farther than intended. If the object’s anticipated trajectory could lead to collisions with other objects, push it more slowly and carefully.
  
  When the task involves interacting with a movable container, if the target container is too far away for stable and precise placement, first move it to a nearby, clear, and unoccupied area that allows for easier manipulation and better visibility. Ensure that the container does not overlap with, cover, or obstruct access to any other objects, especially those needed for subsequent tasks.
  
  Proceed step by step, verifying that each step has been successfully completed before moving on to the next. This is especially important for tasks involving stacking objects or putting objects into containers with required orientation of objects, as recovering from errors can be costly. At the same time, anticipate subsequent steps when executing each action, ensuring that the outcome of the current step does not create obstacles or complications for future actions. For example, accidentally knocking over or displacing other objects during navigation or grasping can introduce unnecessary difficulties for subsequent tasks. Throughout execution, carefully monitor the states of surrounding objects, not just the target object, and watch for any unintended changes. If an unexpected collision occurs, stop immediately and adjust the motion trajectory or task plan to prevent further disruption and minimize the risk of consequences that are difficult to recover from.
  
  When the task involves fine-grained manipulation that requires highly accurate localization for successful execution, such as inserting a coin into a small hole, consider using an idle robotic arm as an active observer. Move the observing arm to capture the target object from different viewpoints, leveraging multi-view observations and stereo triangulation to improve 3D localization accuracy. Ensure that the observing arm does not interfere with the manipulating arm or introduce collision risks.

• exec_command(cmd="cat observations/000000/observation.json")→退出码 0 · 1,462 字
  参数原文· 85 字JSON

  {"cmd": "cat observations/000000/observation.json", "max_output_tokens": 16000}
  返回原文· 5,910 字代码

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  Process exited with code 0
  Original token count: 1462
  Output:
  {
    "episode_id": "d404cf5ae35f4675bb68654e87f84d67",
    "observation_id": "obs_000000",
    "step_id": 0,
    "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
    "current_eef": {
      "left": {
        "position": [
          -0.2995290756225586,
          -0.35229986906051636,
          0.921500027179718
        ],
        "quaternion_wxyz": [
          0.7069999575614929,
          -2.8373033700290762e-08,
          -4.5104908252824316e-08,
          0.7072135210037231
        ],
        "gripper_opening_command": 1.0
      },
      "right": {
        "position": [
          0.3004709482192993,
          -0.35229986906051636,
          0.921500027179718
        ],
        "quaternion_wxyz": [
          0.7069999575614929,
          -2.8373033700290762e-08,
          -4.5104908252824316e-08,
          0.7072135210037231
        ],
        "gripper_opening_command": 1.0
      }
    },
    "current_state": [
      5.117600137063971e-13,
      -1.1564972815666062e-15,
      1.7751208264243043e-17,
      7.854382995167437e-16,
      -9.9895645141318e-13,
      2.5006680753891786e-12,
      1.0,
      5.11759742655854e-13,
      -1.1564970698083694e-15,
      1.7749080755707557e-17,
      7.854373995442373e-16,
      -9.989571019344834e-13,
      2.5006676417083096e-12,
      1.0
    ],
    "control_dt": 0.04,
    "max_episode_steps": 1050,
    "remaining_steps": 1050,
    "rollout_finished": false,
    "native_success": false,
    "frame": "environment_origin",
    "images": [
      {
        "camera": "cam_high",
        "path": "/mnt/workspace/robot_workspaces/episode-ml34iif4/agent/observations/000000/cam_high.png",
        "width": 640,
        "height": 480,
        "calibration": {
          "intrinsic_matrix": [
            [
              288.1325423543974,
              0.0,
              320.0
            ],
            [
              0.0,
              288.1325423543974,
              240.0
            ],
            [
              0.0,
              0.0,
              1.0
            ]
          ],
          "environment_to_optical": [
            [
              1.0,
              0.0,
              0.0,
              0.0
            ],
            [
              0.0,
              -0.8660253513624241,
              -0.5000000907975817,
              0.2989297120661619
            ],
            [
              0.0,
              0.5000000907975817,
              -0.8660253513624241,
              1.337761167766017
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ]
        }
      },
      {
        "camera": "cam_left_wrist",
        "path": "/mnt/workspace/robot_workspaces/episode-ml34iif4/agent/observations/000000/cam_left_wrist.png",
        "width": 640,
        "height": 480,
        "calibration": {
          "intrinsic_matrix": [
            [
              397.0412803766092,
              0.0,
              320.0
            ],
            [
              0.0,
              397.04128037660917,
              240.0
            ],
            [
              0.0,
              0.0,
              1.0
            ]
          ],
          "environment_to_optical": [
            [
              0.9999999565463205,
              0.0002948005198004182,
              1.0355270940861847e-07,
              0.29963324152886833
            ],
            [
              0.00014749864640708718,
              -0.5000295202562351,
              -0.8660083470247089,
              0.7084482871095193
            ],
            [
              -0.00025524793144278586,
              0.8660083094087335,
              -0.5000295420107903,
              0.7177927803813796
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ]
        }
      },
      {
        "camera": "cam_right_wrist",
        "path": "/mnt/workspace/robot_workspaces/episode-ml34iif4/agent/observations/000000/cam_right_wrist.png",
        "width": 640,
        "height": 480,
        "calibration": {
          "intrinsic_matrix": [
            [
              397.0412803766092,
              0.0,
              320.0
            ],
            [
              0.0,
              397.04128037660917,
              240.0
            ],
            [
              0.0,
              0.0,
              1.0
            ]
          ],
          "environment_to_optical": [
            [
              0.9999999565463205,
              0.0002948005198004182,
              1.0355270940861847e-07,
              -0.30036675624078074
            ],
            [
              0.00014749864640708718,
              -0.5000295202562351,
              -0.8660083470247089,
              0.7083597879181583
            ],
            [
              -0.00025524793144278586,
              0.8660083094087335,
              -0.5000295420107903,
              0.7179459807644578
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ]
        }
      }
    ],
    "observation_path": "/mnt/workspace/robot_workspaces/episode-ml34iif4/agent/observations/000000/observation.json",
    "task_context": {
      "episode_start_eef": {
        "left": {
          "position": [
            -0.2995290756225586,
            -0.35229986906051636,
            0.921500027179718
          ],
          "quaternion_wxyz": [
            0.7069999575614929,
            -2.8373033700290762e-08,
            -4.5104908252824316e-08,
            0.7072135210037231
          ],
          "gripper_opening_command": 1.0
        },
        "right": {
          "position": [
            0.3004709482192993,
            -0.35229986906051636,
            0.921500027179718
          ],
          "quaternion_wxyz": [
            0.7069999575614929,
            -2.8373033700290762e-08,
            -4.5104908252824316e-08,
            0.7072135210037231
          ],
          "gripper_opening_command": 1.0
        }
      },
      "requires_arm_return": true
    },
    "camera_parameters_path": "/mnt/workspace/robot_workspaces/episode-ml34iif4/agent/observations/000000/camera_parameters.json"
  }

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 270 字
  参数原文· 787 字JSON

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  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000000/observation.json'))\ndef ray(i,uv):\n c=j['images'][i]['calibration'];K=np.array(c['intrinsic_matrix']);T=np.array(c['environment_to_optical']);R=T[:3,:3];t=T[:3,3];return -R.T@t,R.T@np.linalg.solve(K,[*uv,1])\no,d=ray(0,(137,236));p,e=ray(1,(170,375));ab=np.linalg.lstsq(np.stack([d,-e],axis=1),p-o,rcond=None)[0];print('2 approx',o+ab[0]*d,p+ab[1]*e)\nfor z in [.74,.75,.76,.77]:\n print('z',z)\n for name,uv in [('2',(137,236)),('6',(275,276)),('3',(509,263)),('hidden',(160,272)),('pad1',(262,234)),('pad2',(300,240)),('pad3',(339,240)),('pad4',(378,234))]:\n  o,d=ray(0,uv);v=o+d*(z-o[2])/d[2];print(name,np.round(v,4))\nPY",
    "max_output_tokens": 3000
  }

  返回原文· 1,138 字代码

  1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41

  Process exited with code 0
  Original token count: 270
  Output:
  2 approx [-0.39581841 -0.09090028  0.77260672] [-0.39508478 -0.09159104  0.77165265]
  z 0.74
  2 [-0.4199 -0.0715  0.74  ]
  6 [-0.0955 -0.1703  0.74  ]
  3 [ 0.4113 -0.1399  0.74  ]
  hidden [-0.3423 -0.1611  0.74  ]
  pad1 [-0.1336 -0.0661  0.74  ]
  pad2 [-0.0455 -0.0821  0.74  ]
  pad3 [ 0.0432 -0.0821  0.74  ]
  pad4 [ 0.1336 -0.0661  0.74  ]
  z 0.75
  2 [-0.4125 -0.0774  0.75  ]
  6 [-0.0939 -0.1745  0.75  ]
  3 [ 0.404  -0.1446  0.75  ]
  hidden [-0.3362 -0.1655  0.75  ]
  pad1 [-0.1313 -0.0722  0.75  ]
  pad2 [-0.0447 -0.0878  0.75  ]
  pad3 [ 0.0425 -0.0878  0.75  ]
  pad4 [ 0.1313 -0.0722  0.75  ]
  z 0.76
  2 [-0.4051 -0.0834  0.76  ]
  6 [-0.0922 -0.1788  0.76  ]
  3 [ 0.3968 -0.1494  0.76  ]
  hidden [-0.3302 -0.1699  0.76  ]
  pad1 [-0.1289 -0.0782  0.76  ]
  pad2 [-0.0439 -0.0936  0.76  ]
  pad3 [ 0.0417 -0.0936  0.76  ]
  pad4 [ 0.1289 -0.0782  0.76  ]
  z 0.77
  2 [-0.3977 -0.0893  0.77  ]
  6 [-0.0905 -0.183   0.77  ]
  3 [ 0.3895 -0.1541  0.77  ]
  hidden [-0.3242 -0.1743  0.77  ]
  pad1 [-0.1266 -0.0843  0.77  ]
  pad2 [-0.0431 -0.0994  0.77  ]
  pad3 [ 0.041  -0.0994  0.77  ]
  pad4 [ 0.1266 -0.0843  0.77  ]
  

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' from scipy.spatial.transform import R…")→退出码 0 · 27 字
  参数原文· 414 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nfrom scipy.spatial.transform import Rotation as R\nimport numpy as np\nq0=R.from_quat([0,0,2**-.5,2**-.5]); goal=R.from_matrix(np.array([[0,-1,0],[0,0,1],[-1,0,0]]));delta=(goal*q0.inv()).as_rotvec();print('goal',goal.as_quat()[[3,0,1,2]])\nfor t in [.5,1]:print(t,(R.from_rotvec(delta*t)*q0).as_quat()[[3,0,1,2]])\nPY",
    "max_output_tokens": 1000
  }

  返回原文· 165 字纯文本

  Process exited with code 0 Original token count: 27 Output: goal [-0.5 0.5 -0.5 -0.5] 0.5 [ 0.653281…

• robot_act(steps=3, obs=obs_000000)→obs_000003
  参数原文· 679 字JSON

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  {
    "observation_id": "obs_000000",
    "reason": "The left gripper obscures the fourth digit. Raise both open grippers and begin rotating downward while keeping clear of the tabletop.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.36, -0.24, 1.02],
        "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281],
        "gripper_closed": false
      },
      "right": {"position": [0.37, -0.24, 1.02], "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000003", "native_success": false}

观测 obs_000003 · 步 3 · 剩余 1047 步 · 左末端 (-0.30, -0.35, 0.93) 米 · 右末端 (0.30, -0.35, 0.93) 米

{
  "observation_id": "obs_000003",
  "step_id": 3,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.302, -0.347, 0.929], "quaternion_wxyz": [0.706, -0.027, 0.026, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.304, -0.347, 0.929], "quaternion_wxyz": [0.707, -0.026, 0.027, 0.706], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1047,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000003)→obs_000018
  参数原文· 662 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12 13

  {
    "observation_id": "obs_000003",
    "reason": "Both grippers remain well above the digits. Continue the unobstructed rise and rotation to reveal the hidden digit.",
    "steps": 15,
    "target": {
      "left": {
        "position": [-0.36, -0.24, 1.02],
        "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281],
        "gripper_closed": false
      },
      "right": {"position": [0.37, -0.24, 1.02], "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000018", "native_success": false}

观测 obs_000018 · 步 18 · 剩余 1032 步 · 左末端 (-0.33, -0.29, 0.98) 米 · 右末端 (0.34, -0.29, 0.98) 米

{
  "observation_id": "obs_000018",
  "step_id": 18,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.331, -0.287, 0.978], "quaternion_wxyz": [0.68, -0.196, 0.193, 0.68], "gripper_opening_command": 1.0},
    "right": {"position": [0.336, -0.288, 0.977], "quaternion_wxyz": [0.68, -0.193, 0.196, 0.68], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1032,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 111 字
  参数原文· 820 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000018/observation.json'))\ndef ray(i,uv):\n c=j['images'][i]['calibration'];K=np.array(c['intrinsic_matrix']);T=np.array(c['environment_to_optical']);R=T[:3,:3];t=T[:3,3];return -R.T@t,R.T@np.linalg.solve(K,[*uv,1])\nfor name,uv0,idx,uv1 in [('2',(137,236),1,(206,262)),('8',(153,277),1,(316,446)),('3',(509,263),2,(427,380))]:\n o,d=ray(0,uv0);p,e=ray(idx,uv1);ab=np.linalg.lstsq(np.stack([d,-e],axis=1),p-o,rcond=None)[0];print(name,o+ab[0]*d,p+ab[1]*e)\nfor name,uv in [('8',(153,277)),('6',(275,275)),('3',(509,263)),('pad1',(262,234)),('pad2',(300,240)),('pad3',(339,240)),('pad4',(378,234))]:\n o,d=ray(0,uv);v=o+d*(.775-o[2])/d[2];print(name,np.round(v,4))\nPY",
    "max_output_tokens": 2000
  }

  返回原文· 503 字代码

  1 2 3 4 5 6 7 8 9 10 11 12 13 14

  Process exited with code 0
  Original token count: 111
  Output:
  2 [-0.39429958 -0.09212472  0.77466112] [-0.39480282 -0.0937398   0.77407055]
  8 [-0.33323826 -0.18646425  0.77316236] [-0.33248195 -0.18531552  0.77317125]
  3 [ 0.38495299 -0.15713739  0.77633694] [ 0.38637807 -0.15919971  0.77638792]
  8 [-0.3321 -0.1872  0.775 ]
  6 [-0.0898 -0.1829  0.775 ]
  3 [ 0.3859 -0.1565  0.775 ]
  pad1 [-0.1254 -0.0873  0.775 ]
  pad2 [-0.0427 -0.1023  0.775 ]
  pad3 [ 0.0406 -0.1023  0.775 ]
  pad4 [ 0.1254 -0.0873  0.775 ]
  

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' from scipy.spatial.transform import R…")→退出码 0 · 40 字
  参数原文· 360 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nfrom scipy.spatial.transform import Rotation as R\nimport numpy as np\nq0=R.from_euler('z',np.pi/2)\nfor tilt,yaw in [(1.3,0),(np.pi/2,-.60),(np.pi/2,0)]:\n r=R.from_euler('z',yaw)*R.from_rotvec([-tilt,0,0])*q0\n print(tilt,yaw,r.as_quat()[[3,0,1,2]].round(6))\nPY",
    "max_output_tokens": 1000
  }

  返回原文· 217 字纯文本

  Process exited with code 0 Original token count: 40 Output: 1.3 0 [ 0.562916 -0.427931 0.427931 0.56…

• robot_act(steps=3, obs=obs_000018)→obs_000021
  参数原文· 692 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17

  {
    "observation_id": "obs_000018",
    "reason": "The wrist views identify 8 on the left and 3 on the right. Approach above these separate digits with open fingers, leaving vertical clearance.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.333, -0.186, 1.03],
        "quaternion_wxyz": [0.562916, -0.427931, 0.427931, 0.562916],
        "gripper_closed": false
      },
      "right": {
        "position": [0.386, -0.157, 1.03],
        "quaternion_wxyz": [0.562916, -0.427931, 0.427931, 0.562916],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000021", "native_success": false}

观测 obs_000021 · 步 21 · 剩余 1029 步 · 左末端 (-0.33, -0.27, 0.99) 米 · 右末端 (0.34, -0.27, 0.98) 米

{
  "observation_id": "obs_000021",
  "step_id": 21,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.332, -0.267, 0.987], "quaternion_wxyz": [0.667, -0.234, 0.233, 0.667], "gripper_opening_command": 1.0},
    "right": {"position": [0.343, -0.27, 0.983], "quaternion_wxyz": [0.668, -0.23, 0.233, 0.668], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1029,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000021)→obs_000024
  参数原文· 680 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17

  {
    "observation_id": "obs_000021",
    "reason": "Both target digits remain visible between open fingers. Continue the high approach and downward alignment without contacting them.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.333, -0.186, 1.03],
        "quaternion_wxyz": [0.562916, -0.427931, 0.427931, 0.562916],
        "gripper_closed": false
      },
      "right": {
        "position": [0.386, -0.157, 1.03],
        "quaternion_wxyz": [0.562916, -0.427931, 0.427931, 0.562916],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000024", "native_success": false}

观测 obs_000024 · 步 24 · 剩余 1026 步 · 左末端 (-0.33, -0.25, 1.00) 米 · 右末端 (0.35, -0.25, 0.99) 米

{
  "observation_id": "obs_000024",
  "step_id": 24,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.332, -0.245, 0.996], "quaternion_wxyz": [0.652, -0.275, 0.275, 0.651], "gripper_opening_command": 1.0},
    "right": {"position": [0.35, -0.25, 0.989], "quaternion_wxyz": [0.653, -0.27, 0.272, 0.653], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1026,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000024)→obs_000027
  参数原文· 700 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12 13

  {
    "observation_id": "obs_000024",
    "reason": "The 8 lies diagonally while the 3 is nearly upright. Align the left closing direction across the 8's waist and the right across the 3, keeping the finger tips above both.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.333, -0.186, 1.01],
        "quaternion_wxyz": [0.625428, -0.329908, 0.625428, 0.329908],
        "gripper_closed": false
      },
      "right": {"position": [0.386, -0.157, 1.01], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000027", "native_success": false}

观测 obs_000027 · 步 27 · 剩余 1023 步 · 左末端 (-0.33, -0.22, 1.00) 米 · 右末端 (0.36, -0.23, 0.99) 米

{
  "observation_id": "obs_000027",
  "step_id": 27,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.332, -0.222, 1.0], "quaternion_wxyz": [0.657, -0.286, 0.326, 0.616], "gripper_opening_command": 1.0},
    "right": {"position": [0.358, -0.229, 0.992], "quaternion_wxyz": [0.636, -0.308, 0.31, 0.636], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1023,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000027)→obs_000030
  参数原文· 636 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12 13

  {
    "observation_id": "obs_000027",
    "reason": "The digits remain stationary and visible. Continue the downward wrist alignment above their grasp centers.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.333, -0.186, 1.01],
        "quaternion_wxyz": [0.625428, -0.329908, 0.625428, 0.329908],
        "gripper_closed": false
      },
      "right": {"position": [0.386, -0.157, 1.01], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000030", "native_success": false}

观测 obs_000030 · 步 30 · 剩余 1020 步 · 左末端 (-0.33, -0.20, 1.01) 米 · 右末端 (0.37, -0.21, 1.00) 米

{
  "observation_id": "obs_000030",
  "step_id": 30,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.332, -0.197, 1.005], "quaternion_wxyz": [0.661, -0.297, 0.378, 0.577], "gripper_opening_command": 1.0},
    "right": {"position": [0.366, -0.207, 0.995], "quaternion_wxyz": [0.615, -0.347, 0.349, 0.616], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1020,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000030)→obs_000033
  参数原文· 639 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12 13

  {
    "observation_id": "obs_000030",
    "reason": "The measured wrists are still rotating toward the planned top-down grasp. Finish alignment before descending.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.333, -0.186, 1.01],
        "quaternion_wxyz": [0.625428, -0.329908, 0.625428, 0.329908],
        "gripper_closed": false
      },
      "right": {"position": [0.386, -0.157, 1.01], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000033", "native_success": false}

观测 obs_000033 · 步 33 · 剩余 1017 步 · 左末端 (-0.33, -0.19, 1.01) 米 · 右末端 (0.37, -0.19, 1.00) 米

{
  "observation_id": "obs_000033",
  "step_id": 33,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.332, -0.188, 1.008], "quaternion_wxyz": [0.661, -0.306, 0.432, 0.532], "gripper_opening_command": 1.0},
    "right": {"position": [0.374, -0.187, 0.999], "quaternion_wxyz": [0.593, -0.384, 0.385, 0.594], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1017,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000033)→obs_000036
  参数原文· 667 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12 13

  {
    "observation_id": "obs_000033",
    "reason": "The 8 and 3 remain centered in the wrist views. Continue alignment with no closure until the finger pads are parallel to the grasp sides.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.333, -0.186, 1.01],
        "quaternion_wxyz": [0.625428, -0.329908, 0.625428, 0.329908],
        "gripper_closed": false
      },
      "right": {"position": [0.386, -0.157, 1.01], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000036", "native_success": false}

观测 obs_000036 · 步 36 · 剩余 1014 步 · 左末端 (-0.33, -0.19, 1.01) 米 · 右末端 (0.38, -0.17, 1.00) 米

{
  "observation_id": "obs_000036",
  "step_id": 36,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.332, -0.187, 1.009], "quaternion_wxyz": [0.657, -0.315, 0.485, 0.483], "gripper_opening_command": 1.0},
    "right": {"position": [0.381, -0.17, 1.004], "quaternion_wxyz": [0.572, -0.415, 0.416, 0.572], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1014,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000036)→obs_000039
  参数原文· 659 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12 13

  {
    "observation_id": "obs_000036",
    "reason": "Both digits are visible and the wrists are close to vertical. Lower toward a clear hover while completing the finger alignment.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.333, -0.186, 0.971],
        "quaternion_wxyz": [0.625428, -0.329908, 0.625428, 0.329908],
        "gripper_closed": false
      },
      "right": {"position": [0.386, -0.157, 0.971], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000039", "native_success": false}

观测 obs_000039 · 步 39 · 剩余 1011 步 · 左末端 (-0.33, -0.19, 0.97) 米 · 右末端 (0.39, -0.16, 0.97) 米

{
  "observation_id": "obs_000039",
  "step_id": 39,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.332, -0.186, 0.974], "quaternion_wxyz": [0.646, -0.325, 0.556, 0.409], "gripper_opening_command": 1.0},
    "right": {"position": [0.385, -0.159, 0.974], "quaternion_wxyz": [0.529, -0.469, 0.469, 0.53], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1011,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 19 字
  参数原文· 422 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000039/observation.json'))\nfor i,uv in [(1,(340,285)),(2,(330,254))]:\n c=j['images'][i]['calibration'];K=np.array(c['intrinsic_matrix']);T=np.array(c['environment_to_optical']);R=T[:3,:3];o=-R.T@T[:3,3];d=R.T@np.linalg.solve(K,[*uv,1]); print(o+d*(.775-o[2])/d[2])\nPY",
    "max_output_tokens": 1000
  }

  返回原文· 136 字纯文本

  Process exited with code 0 Original token count: 19 Output: [-0.33142055 -0.18436954 0.775 ] [ 0.388…

• robot_act(steps=3, obs=obs_000039)→obs_000042
  参数原文· 684 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12 13

  {
    "observation_id": "obs_000039",
    "reason": "Wrist geometry confirms grasp centers near the estimates. Finish vertical alignment at hover height before inserting the open fingers beside the digits.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.332, -0.185, 0.966],
        "quaternion_wxyz": [0.625428, -0.329908, 0.625428, 0.329908],
        "gripper_closed": false
      },
      "right": {"position": [0.388, -0.155, 0.966], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000042", "native_success": false}

观测 obs_000042 · 步 42 · 剩余 1008 步 · 左末端 (-0.33, -0.19, 0.97) 米 · 右末端 (0.39, -0.16, 0.97) 米

{
  "observation_id": "obs_000042",
  "step_id": 42,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.332, -0.185, 0.966], "quaternion_wxyz": [0.627, -0.33, 0.622, 0.334], "gripper_opening_command": 1.0},
    "right": {"position": [0.388, -0.155, 0.966], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1008,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000042)→obs_000045
  参数原文· 668 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12 13

  {
    "observation_id": "obs_000042",
    "reason": "The fingers are now aligned across the 8's waist and the 3's middle. Descend open toward their sides, retaining clearance above the table.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.332, -0.185, 0.94],
        "quaternion_wxyz": [0.625428, -0.329908, 0.625428, 0.329908],
        "gripper_closed": false
      },
      "right": {"position": [0.388, -0.155, 0.94], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000045", "native_success": false}

观测 obs_000045 · 步 45 · 剩余 1005 步 · 左末端 (-0.33, -0.18, 0.94) 米 · 右末端 (0.39, -0.15, 0.94) 米

{
  "observation_id": "obs_000045",
  "step_id": 45,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.332, -0.185, 0.941], "quaternion_wxyz": [0.625, -0.33, 0.625, 0.33], "gripper_opening_command": 1.0},
    "right": {"position": [0.388, -0.155, 0.941], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1005,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=2, obs=obs_000045)→obs_000047
  参数原文· 667 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12 13

  {
    "observation_id": "obs_000045",
    "reason": "The open fingers straddle each digit without visible displacement. Lower another centimeter to place the pads around the digit thickness.",
    "steps": 2,
    "target": {
      "left": {
        "position": [-0.332, -0.185, 0.93],
        "quaternion_wxyz": [0.625428, -0.329908, 0.625428, 0.329908],
        "gripper_closed": false
      },
      "right": {"position": [0.388, -0.155, 0.93], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000047", "native_success": false}

观测 obs_000047 · 步 47 · 剩余 1003 步 · 左末端 (-0.33, -0.18, 0.93) 米 · 右末端 (0.39, -0.15, 0.93) 米

{
  "observation_id": "obs_000047",
  "step_id": 47,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.332, -0.185, 0.93], "quaternion_wxyz": [0.625, -0.33, 0.625, 0.33], "gripper_opening_command": 1.0},
    "right": {"position": [0.388, -0.155, 0.93], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1003,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000047)→obs_000050
  参数原文· 669 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12 13

  {
    "observation_id": "obs_000047",
    "reason": "Both digits are centered between the aligned finger pads at contact height. Close gently while holding wrist position and orientation steady.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.332, -0.185, 0.93],
        "quaternion_wxyz": [0.625428, -0.329908, 0.625428, 0.329908],
        "gripper_closed": true
      },
      "right": {"position": [0.388, -0.155, 0.93], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000050", "native_success": false}

观测 obs_000050 · 步 50 · 剩余 1000 步 · 左末端 (-0.33, -0.19, 0.93) 米 · 右末端 (0.39, -0.16, 0.93) 米

{
  "observation_id": "obs_000050",
  "step_id": 50,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.332, -0.185, 0.93], "quaternion_wxyz": [0.625, -0.33, 0.625, 0.33], "gripper_opening_command": 0.329},
    "right": {"position": [0.388, -0.155, 0.93], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.329}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1000,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000050)→obs_000053
  参数原文· 668 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12 13

  {
    "observation_id": "obs_000050",
    "reason": "Finger pads now touch both digits, but closure is still interpolating. Hold the aligned grasp positions to establish contact before lifting.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.332, -0.185, 0.93],
        "quaternion_wxyz": [0.625428, -0.329908, 0.625428, 0.329908],
        "gripper_closed": true
      },
      "right": {"position": [0.388, -0.155, 0.93], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000053", "native_success": false}

观测 obs_000053 · 步 53 · 剩余 997 步 · 左末端 (-0.33, -0.18, 0.93) 米 · 右末端 (0.39, -0.15, 0.93) 米

{
  "observation_id": "obs_000053",
  "step_id": 53,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.332, -0.185, 0.93], "quaternion_wxyz": [0.625, -0.33, 0.625, 0.33], "gripper_opening_command": 0.308},
    "right": {"position": [0.388, -0.155, 0.93], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.232}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 997,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000053)→obs_000056
  参数原文· 666 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12 13

  {
    "observation_id": "obs_000053",
    "reason": "Both digits have opposing pad contact. Make a small vertical test lift with orientation fixed to verify that they follow their grippers.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.332, -0.185, 0.952],
        "quaternion_wxyz": [0.625428, -0.329908, 0.625428, 0.329908],
        "gripper_closed": true
      },
      "right": {"position": [0.388, -0.155, 0.952], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000056", "native_success": false}

观测 obs_000056 · 步 56 · 剩余 994 步 · 左末端 (-0.33, -0.19, 0.95) 米 · 右末端 (0.39, -0.16, 0.95) 米

{
  "observation_id": "obs_000056",
  "step_id": 56,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.332, -0.185, 0.952], "quaternion_wxyz": [0.625, -0.33, 0.625, 0.33], "gripper_opening_command": 0.305},
    "right": {"position": [0.388, -0.155, 0.952], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.231}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 994,
  "native_success": false,
  "frame": "environment_origin"
}

• view_image(path="…workspace/robot_workspaces/episode-ml34iif4/agent/observations/000000/cam_right_wrist.png")→1 张图
  查看的图
  参数原文· 110 字JSON

  {"path": "/mnt/workspace/robot_workspaces/episode-ml34iif4/agent/observations/000000/cam_right_wrist.png"}
  返回原文· 314 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12

  [
    {
      "type": "input_image",
      "image_url": {
        "$image": "assets/bb4bb9c8404e3cc774f198425765c1426ad60991001fc7c3f562ce047df2654c.png",
        "sha256": "bb4bb9c8404e3cc774f198425765c1426ad60991001fc7c3f562ce047df2654c",
        "mime_type": "image/png",
        "width": 640,
        "height": 480
      }
    }
  ]

• view_image(path="/mnt/workspace/robot_workspaces/episode-ml34iif4/agent/observations/000000/cam_high.png")→1 张图
  查看的图
  参数原文· 103 字JSON

  {"path": "/mnt/workspace/robot_workspaces/episode-ml34iif4/agent/observations/000000/cam_high.png"}
  返回原文· 314 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12

  [
    {
      "type": "input_image",
      "image_url": {
        "$image": "assets/1bf4dbedb993a22621631e583bbbb5462fe2d52fe8735a1535b0d26966aad1b1.png",
        "sha256": "1bf4dbedb993a22621631e583bbbb5462fe2d52fe8735a1535b0d26966aad1b1",
        "mime_type": "image/png",
        "width": 640,
        "height": 480
      }
    }
  ]

• robot_act(steps=3, obs=obs_000056)→obs_000059
  参数原文· 700 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12 13

  {
    "observation_id": "obs_000056",
    "reason": "Both digits rose with their grippers and retain their wrist-relative positions, confirming the test lifts. Raise vertically to clear the other digits before transporting.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.332, -0.185, 1.015],
        "quaternion_wxyz": [0.625428, -0.329908, 0.625428, 0.329908],
        "gripper_closed": true
      },
      "right": {"position": [0.388, -0.155, 1.015], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000059", "native_success": false}

观测 obs_000059 · 步 59 · 剩余 991 步 · 左末端 (-0.33, -0.19, 0.98) 米 · 右末端 (0.39, -0.16, 0.99) 米

{
  "observation_id": "obs_000059",
  "step_id": 59,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.332, -0.186, 0.984], "quaternion_wxyz": [0.626, -0.33, 0.625, 0.33], "gripper_opening_command": 0.305},
    "right": {"position": [0.388, -0.156, 0.985], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.231}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 991,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000059)→obs_000074
  参数原文· 653 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000059",
    "reason": "Both digits remain firmly held above the tabletop. Move through clear elevated space toward pads one and three, rotating the 8 upright for reading.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.15, -0.09, 1.035], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.21, -0.1, 1.035], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000074", "native_success": false}

观测 obs_000074 · 步 74 · 剩余 976 步 · 左末端 (-0.27, -0.15, 1.00) 米 · 右末端 (0.21, -0.10, 1.03) 米

{
  "observation_id": "obs_000074",
  "step_id": 74,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {
      "position": [-0.265, -0.151, 1.002],
      "quaternion_wxyz": [0.544, -0.452, 0.543, 0.452],
      "gripper_opening_command": 0.306
    },
    "right": {"position": [0.21, -0.1, 1.035], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.232}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 976,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 57 字
  参数原文· 599 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000074/observation.json'))\ndef ray(i,uv):\n c=j['images'][i]['calibration'];K=np.array(c['intrinsic_matrix']);T=np.array(c['environment_to_optical']);R=T[:3,:3];return -R.T@T[:3,3],R.T@np.linalg.solve(K,[*uv,1])\no,d=ray(0,(378,234));p,e=ray(2,(118,89));ab=np.linalg.lstsq(np.stack([d,-e],1),p-o,rcond=None)[0];print('pad4',o+ab[0]*d,p+ab[1]*e)\nfor uv in [(262,234),(300,240),(339,240),(378,234)]:\n o,d=ray(0,uv);print(o+d*(.756-o[2])/d[2])\nPY",
    "max_output_tokens": 1000
  }

  返回原文· 287 字纯文本

  Process exited with code 0 Original token count: 57 Output: pad4 [ 0.12722745 -0.08258135 0.7672173 …

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 58 字
  参数原文· 411 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000074/observation.json'))\nfor p in [[.13,-.08,.765],[.13,-.08,.755],[.13,-.08,.76]]:\n print(p)\n for i in [0,2]:\n  c=j['images'][i]['calibration'];a=np.array(c['environment_to_optical'])@[*p,1];v=np.array(c['intrinsic_matrix'])@a[:3];print(v[:2]/v[2])\nPY",
    "max_output_tokens": 1000
  }

  返回原文· 290 字纯文本 + JSON

  Process exited with code 0 Original token count: 58 Output:

  1

  [0.13, -0.08, 0.765]

  [378.9643862 233.51921103] [138.09004225 90.76952645]

  1

  [0.13, -0.08, 0.755]

  [378.17134846 235.84373395] [146.65240853 87.00212817]

  1

  [0.13, -0.08, 0.76]

  [378.5651828 234.68934129] [142.47441853 88.84042284]

• robot_act(steps=15, obs=obs_000074)→obs_000089
  参数原文· 648 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000074",
    "reason": "Both grasps remain stable. Bring the 8 above the first pad while holding the 3 well to the right, so the wrists cannot meet during placement.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.126, -0.08, 1.035], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.21, -0.1, 1.035], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000089", "native_success": false}